Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm

An, Happy H.; Clement, William I.; Reed, Benjamin B.

doi:10.1109/aim.2014.6878266

Cited by 14 publications

(7 citation statements)

References 25 publications

(16 reference statements)

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“…The joint angle θ4 is solved first, then θ1:θ3, and finally θ5:θ7. The detailed solution method is referred to the literature (Gong et al , 2019; An et al , 2014; Liu et al , 2017) and is not specifically given in this paper.…”

Section: Verification Of Joint Motion Performancementioning

confidence: 99%

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Zhang

Meng

et al. 2021

IJCST

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PurposeThe purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve the problem of sparse and incomplete trajectory points of the head and heel of the shoe sole when extracting robot motion trajectories using structured-light 3D cameras and to ensure the robot joints move smoothly, so as to achieve a good effect of automatic spraying of the shoe sole with a 7-degree-of-freedom (DOF) robot.Design/methodology/approachFirstly, the original shoe sole edge trajectory position points acquired by the 3D camera are fitted with NURBS curves. Then, the velocity constraint at the local maximum of the trajectory curvature is used as the reference for curve segmentation and S-shaped acceleration and deceleration planning. Immediately, real-time interpolation is performed in the time domain to obtain the position and orientation of each point of the robot motion trajectory. Finally, the inverse kinematics of the anthropomorphic motion of the 7-DOF robot arm is used to obtain the joint motion trajectory.FindingsThe simulation and experiment prove that the shoe sole spraying trajectory is complete, the spraying effect is good and the robot joint movement is smooth, which show that the algorithm is feasible.Originality/valueThis study is of good practical value for improving the quality of automated shoe sole spraying, and it has wide applicability for different shoe sole shapes.

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Section: Verification Of Joint Motion Performancementioning

confidence: 99%

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Zhang

Meng

et al. 2021

IJCST

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“…The redundant structure was designed to improve the flexibility ratio in the operational space and to extend the joint limiter of the robot manipulator. 18…”

Section: -Dof Redundant Robot Manipulator Designsmentioning

confidence: 99%

“…The redundant structure was designed to improve the flexibility ratio in the operational space and to extend the joint limiter of the robot manipulator. 18 Figure 1 shows the software and hardware system architecture configurations consisting of three main parts: (1) system interface, (2) movement control, and (3) hardware device management. This was designed as a closed-loop control system with its interface receiving user's input commands and/or the sensory information coming from the outside.…”

Section: -Dof Redundant Robot Manipulator Designsmentioning

confidence: 99%

Manipulator system designs for drawing random objects through point cloud posture estimation

Wong

Feng

Lai

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part B:

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This paper designed a 7-DOF redundant robot manipulator that can flexibly and efficiently pick-up random objects. The developed 7-DOF machine with an additional redundancy achieved great progress in terms of flexibility and efficiency in the operational space. A robot operating system (ROS) was used to configure the manipulator system’s software modules, supporting convenient system interface, appropriate movement control policy, and powerful hardware device management for better regulation of the manipulator’s motions. A 3D type Point Cloud Library (PCL) was utilized to perform a novel point cloud image pre-processing method that did not only reduce the point cloud number but also maintained the original quality. The results of the experiment showed that the estimation speed in object detection and recognition procedure improved significantly. The redundant robot manipulator architecture with the two-stage search algorithm was able to find the optimal null space. Suitable parameters in D-H transformation of forward kinematics were selected to efficiently control and position the manipulator in the right posture. Meanwhile, the reverse kinematics estimated all angles of the joints through the known manipulator position, orientation, and redundancy. Finally, motion panning implementation of manipulator rapidly and successfully reached the random object position and automatically drew it up to approximate the desired target.

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“…Hollerbach [1] was the first to propose a description to the manifold as the angle between a reference plane and the plane formed by the shoulder, 20 elbow and wrist -later called "arm angle" [6]. Other methods to describe the self-motion were later introduced [7,8]. The redundant degree of freedom enables the manipulator to perform secondary tasks aside from reaching a specific position and orientation [9], such as: singularities [10,11,12] and joint limits avoidance [13,14,15], obstacle avoidance [16,17], minimise energy dissipation [18], enhance manipulability [19] and human-like motions [7,20,21].…”

Section: Introductionmentioning

confidence: 99%

“…The kinematic control of a redundant manipulator can be achieved by position-or velocity-based inverse meth- 25 ods, the latter being considered the standard approach to derive the inverse kinematic expressions of redundant manipulators [22,23]. However, velocity-based control exhibits several disadvantages when compared to positionbased control: i) computationally more expensive, returning only one solution [8,24]; ii) difficult to map joint limits or configurations in the velocity domain [25]; iii) subject to error instability due to cumulative errors; iv) requires the pre-assignment of the Cartesian trajectory to follow [26]; v) Jacobian inversion consequent singularities [27]. 30 Position-based closed-form solutions were deemed too difficult or impossible to derive due to the infinite number of joint configurations as a solution to the joint space manifold [26].…”

Section: Introductionmentioning

confidence: 99%

Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance

Faria

Ferreira

Erlhagen

et al. 2018

Mechanism and Machine Theory

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This paper presents a novel analytic method to uniquely solve inverse kinematics of 7 degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary parameters are introduced to deal with the self-motion manifolds: the global configuration (GC), which specifies the branch of inverse kinematics solutions; and the arm angle (ψ) that parametrizes the elbow redundancy within the specified branch. The relations between the joint angles and the arm angle are derived, in order to map the joint limits and singularities to arm angle values. Then, intervals of feasible arm angles for the specified target pose and global configuration are determined, taking joint limits and singularities into account. A simple metric is proposed to compute the elbow position according to the feasible intervals. When the arm angle is determined, the joint angles can be uniquely calculated from the position-based inverse kinematics algorithm. The presented method does not exhibit the disadvantages inherent to the use of the Jacobian matrix and can be implemented in real-time control systems. This novel algorithm is the first position-based inverse kinematics algorithm to solve both global and local manifolds, using a redundancy resolution strategy to avoid singularities and joint limits. 60 are imposed to better imitate the human arm. These limitations, however, also simplify the inverse kinematics solution since they condition the possible configurations. Ultimately, solutions developed for applications under these constraints cannot be directly extended to manipulators with wider working ranges. Also, only Kim and Rosen [21] addressed the joint limits avoidance problem, by using an optimization routine that relies on estimated weight coefficients to distance from joint limits. 65

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Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm

Cited by 14 publications

References 25 publications

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Manipulator system designs for drawing random objects through point cloud posture estimation

Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance

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